Implement Hlms custom pieces swap for Objects & Terrain

[darksylinc]

🦟 Bug fix

Fixes #504
Fixes #444

Summary

The 3rd and final PR to ticket #504 !

After this PR:

• Terra now works with all Cameras (Thermal, SelectionBuffer, Segmentation, Laser) as documented in ticket Heightmaps don't work properly with segmentation camera #444 (backporting this to Fortress w/out breaking ABI could be a ton of work unfortunately)
• Fixes various misc bugs of wrong values used in these cameras by regular objects when their properties weren't set (documented in Potential bug: Wrong value stuck in Ogre2GpuRays #521, technically it fixes that one, but the fix can be backported so the ticket can will open until these versions are fixed or EoL)
• Deformation works correctly under these cameras (e.g. skeletal animation and morph target)
  • Only exception is Thermal camera when using heatSignature texture. This was not ported to Hlms pieces and we remain swapping a regular low level material
• Swaps the low level material for all cameras, not just a few of them (as documented in Incorrect sensor data: Low level materials and other cameras #544; however it doesn't fix the underlying issue that we don't respect the original material's vertex shader deformation). This can be fixed in older versions as well (w/out breaking ABI).
• Increases test coverage by throwing an error (and crashing) if an object tries to render without a color set while in IORM_SOLID_COLOR and IORM_SOLID_THERMAL_COLOR_TEXTURED modes. Previously Gazebo would render colour to non-colour render targets and the unit tests wouldn't always catch it.

Notes:

• Codeconv reports lower coverage partly because this patch now handles low level materials in all cameras; but there are no tests covering these new paths.
  • No tests covering these paths are tracked by Unit test coverage: low level materials #543 and does not just affect Garden, but also Fortress
  • Fortress does not currently handle this case, which would result in incorrect sensor data. This is a bug in Fortress and is being tracked by Incorrect sensor data: Low level materials and other cameras #544
  • This PR handles the case, but it just reverts to a standard default shader which is suboptimal. Proper solution would be to use the original vertex shader and various solutions to this problem are proposed in Incorrect sensor data: Low level materials and other cameras #544
• Codeconv reports lower coverage partly because there are new codepaths to handle the terrain with each sensor (e.g. Laser, Segmented camera, etc) but no unit test is testing these paths.
  • Ticket Unit test coverage: Heightmaps on all cameras #546 was created to track this issue

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[codecov]

Codecov Report

Merging #545 (409b9a2) into main (30f9a5e) will decrease coverage by 0.10%.
The diff coverage is 54.37%.

@@            Coverage Diff             @@
##             main     #545      +/-   ##
==========================================
- Coverage   53.37%   53.26%   -0.11%     
==========================================
  Files         211      213       +2     
  Lines       20830    21152     +322     
==========================================
+ Hits        11117    11267     +150     
- Misses       9713     9885     +172     

Impacted Files	Coverage Δ
...c/terrain/Terra/include/Terra/Hlms/OgreHlmsTerra.h	100.00% <ø> (ø)
ogre2/src/terrain/Terra/include/Terra/Terra.h	0.00% <ø> (ø)
ogre2/src/terrain/Terra/src/Terra.cpp	0.00% <0.00%> (ø)
ogre2/src/Ogre2IgnHlmsTerraPrivate.cc	42.85% <42.85%> (ø)
ogre2/src/Ogre2ThermalCamera.cc	82.18% <48.07%> (-6.95%)	⬇️
ogre2/src/Ogre2IgnHlmsPbsPrivate.cc	77.88% <58.33%> (-4.47%)	⬇️
ogre2/src/Ogre2MaterialSwitcher.cc	76.28% <61.11%> (-8.13%)	⬇️
ogre2/src/Ogre2GpuRays.cc	91.59% <65.88%> (-3.90%)	⬇️
ogre2/src/Ogre2SegmentationMaterialSwitcher.cc	62.50% <67.08%> (+2.76%)	⬆️
ogre2/src/Ogre2IgnHlmsTerraPrivate.hh	100.00% <100.00%> (ø)
... and 5 more

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[iche033]

lots of stuff to go through :) I did a quick first pass and some testing.

I created sensor_heightmap.sdf world file for testing in ignition gazebo and confirms that heightmap now appears in segmentation camera, lidar, and thermal camera (using fixed temperature). Looks promising!

[iche033]

+1

[iche033]

Did more tests and confirmed that particles are working fine (testing using sensors_particle_scarttering2.sdf), and lidar spherical near clipping is also working (tesed using robots_near_clip.sdf).